Defines an articulated body for use with reduced-coordinate dynamics algorithms. More...

#include <RCArticulatedBody.h>

Inheritance diagram for Moby::RCArticulatedBody:

Public Member Functions
	RCArticulatedBody ()
	Default constructor. More...

RCArticulatedBodyPtr	clone () const
	Clones this.

virtual void	load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map)
	Implements Base::load_from_xml() More...

virtual void	save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const
	Implements Base::save_to_xml()

virtual void	set_links_and_joints (const std::vector< RigidBodyPtr > &links, const std::vector< JointPtr > &joints)
	Sets the vector of links and joints.

virtual void	apply_generalized_impulse (const Ravelin::SharedVectorNd &gj)
	Applies a generalized impulse to the rigid body (calls the simulator)

Public Member Functions inherited from Moby::ArticulatedBody
virtual void	update_visualization ()
	Updates visualization for the body.

void	update_joint_constraint_violations ()
	Updates joint constraint violation (after integration)

bool	is_joint_constraint_violated () const
	Checks for a joint constraint violation.

virtual void	prepare_to_calc_ode (Ravelin::SharedConstVectorNd &x, double t, double dt, void *data)
	Prepares to compute the ODE.

virtual void	prepare_to_calc_ode_sustained_constraints (Ravelin::SharedConstVectorNd &x, double t, double dt, void *data)
	Integrates a dynamic body. More...

virtual void	ode (double t, double dt, void *data, Ravelin::SharedVectorNd &dx)
	Returns the ODE's for position and velocity (concatenated into x)

template<class OutputIterator >
OutputIterator	find_limit_constraints (OutputIterator begin) const
	Finds (joint) limit constraints. More...

ArticulatedBodyPtr	get_this ()
	Gets shared pointer to this object as type ArticulatedBody.

boost::shared_ptr< const ArticulatedBody >	get_this () const
	Gets shared pointer to this object as type const ArticulateBody.

template<class OutputIterator >
OutputIterator	find_limit_constraints (OutputIterator output_begin) const
	Gets joint limit constraints.

Public Member Functions inherited from Moby::ControlledBody
const std::list < RecurrentForcePtr > &	get_recurrent_forces () const
	Gets the set of recurrent forces applied to this body.

std::list< RecurrentForcePtr > &	get_recurrent_forces ()
	Gets the set of recurrent forces applied to this body.

Public Member Functions inherited from Moby::Visualizable
	Visualizable (const Visualizable *v)

void	set_visualization_relative_pose (const Ravelin::Pose3d &P)
	Sets the visualization relative pose.

virtual void	set_visualization_data (osg::Node *vdata)
	Sets the visualization data from a node.

virtual void	set_visualization_data (OSGGroupWrapperPtr vdata)
	Sets the visualization data from a OSGGroupWrapper.

osg::Group *	get_visualization_data () const
	Gets the visualization data for this object.

boost::shared_ptr< const Ravelin::Pose3d >	get_visualization_pose ()
	Gets the pose for this visualizable object.

Public Member Functions inherited from Moby::Base
	Base (const Base *b)

Protected Member Functions
virtual void	compile ()
	Compiles this body (updates the link transforms and velocities)

Additional Inherited Members
Static Public Member Functions inherited from Moby::Visualizable
static osg::Group *	construct_from_node (boost::shared_ptr< const XMLTree > node, const std::map< std::string, BasePtr > &id_map)
	Utility method for load_from_xml() More...

Static Public Member Functions inherited from Moby::Base
template<class T >
static boost::shared_ptr< T >	clone (boost::shared_ptr< T > x)
	Static method for cloning a shared pointer.

Public Attributes inherited from Moby::ControlledBody
Ravelin::VectorNd &(*	controller )(boost::shared_ptr< ControlledBody > body, Ravelin::VectorNd &, double, void *)
	The controller callback, if any, for this body.

void *	controller_arg
	Argument to be passed to the controller.

Public Attributes inherited from Moby::Base
boost::shared_ptr< void >	userdata
	Any relevant userdata.

std::string	id
	The unique ID for this object.

Protected Attributes inherited from Moby::ControlledBody
boost::weak_ptr< Simulator >	simulator
	Pointer to the simulator (necessary for applying impulses w/constraints)

Protected Attributes inherited from Moby::Visualizable
boost::shared_ptr < Ravelin::Pose3d >	_vF
	The relative pose.

OSGGroupWrapperPtr	_vizdata
	The underlying visualization data.

Detailed Description

Defines an articulated body for use with reduced-coordinate dynamics algorithms.

Reduced-coordinate articulated bodies cannot rely upon the integrator to automatically update the states (i.e., positions, velocities) of the links, as is done with maximal-coordinate articulated bodies. Rather, the integrator updates the joint positions and velocities; the states are obtained from this reduced-coordinate representation. Notes about concurrency:

It is generally desirable to be able to run forward dynamics and inverse dynamics algorithms concurrently to simulate actual robotic systems. In general, derived classes should not operate on state variables (joint positions, velocities, accelerations and floating base positions, velocites, and accelerations) directly during execution of the algorithm. Rather, derived classes should operate on copies of the state variables, updating the state variables on conclusion of the algorithms.